Estimation of speed and direction of travel in a WLAN positioning system

ABSTRACT

A method for estimating the speed and bearing of a Wi-Fi enabled device using WLAN radio signals in a WLAN based location service is provided. A method used to estimate a speed of travel of a Wi-Fi enabled device comprises the Wi-Fi enabled device receiving signals transmitted by Wi-Fi access points in range of the Wi-Fi enabled device, and using the signals to estimate the speed of and/or direction of travel of the Wi-Fi enabled device.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of prior U.S. patent application Ser.No. 12/945,266, now U.S. Pat. No. 8,090,386, filed Nov. 12, 2010,entitled Estimation of Speed and Direction of Travel in a WLANPositioning System, which is a continuation of prior U.S. patentapplication Ser. No. 11/430,079, now U.S. Pat. No. 7,835,754, filed May8, 2006, entitled Estimation of Speed and Direction of Travel in a WLANPositioning System, the contents of which are incorporated by referenceherein.

This application is related to the following U.S. patent applications:

-   -   U.S. patent application Ser. No. 11/429,862, filed May 8, 2006,        entitled Estimation of Speed of Travel Using the Dynamic Signal        Strength Variation of Multiple WLAN Access Points; U.S. patent        application Ser. No. 11/430,064, now U.S. Pat. No. 7,551,929,        filed May 8, 2006, entitled Estimation of Speed and Direction of        Travel In a WLAN Positioning System Using Multiple Position        Estimations;    -   U.S. patent application Ser. No. 11/430,222, now U.S. Pat. No.        7,515,578, filed May 8, 2006, entitled Estimation of Position        Using WLAN Access Point Radio Propagation Characteristics in a        WLAN Positioning System; and    -   U.S. patent application Ser. No. 11/430,224, now U.S. Pat. No.        7,551,579, filed May 8, 2006, entitled Calculation of Quality of        WLAN Access Point Characterization For Use in a WLAN Positioning        System;

the contents of which are hereby incorporated by reference.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The invention generally relates to calculating speed and direction oftravel in a positioning system, and, more specifically, the use of WLANaccess points signals to calculate speed and direction of travel.

2. Description of Related Art

Position, speed of travel, and direction of travel (i.e. bearing) arebasic components of navigation systems and any Location Based Services(LBS). Speed and bearing estimation are not only reported to the endusers, but they are also used by the location services and systems torectify position estimation. The information may also be used bynavigation applications to translate a distance to a time duration.Location and speed estimation are also used extensively in cellularnetworks to optimize system parameters, like dynamic channel assignmentand handover algorithms.

Outdoor and indoor WLAN based positioning systems have been explored bya couple of research labs, but none of them included speed and bearingestimation in their system. The most important research efforts in thisarea have been conducted by PlaceLab (www.placelab.com, a projectsponsored by Microsoft and Intel), University of California San DiegoActiveCampus project (ActiveCampus—Sustaining Educational Communitiesthrough Mobile Technology, technical report #CS2002-0714), and the MITcampus wide location system, and it was evaluated through several smallprojects at Dartmouth college (e.g., M. Kim, J. J. Fielding, and D.Kotz, “Risks of using AP locations discovered through war driving”).

There have been a number of commercial offerings of Wi-Fi locationsystems targeted at indoor positioning. (See, e.g., KavithaMuthukrishnan, Maria Lijding, Paul Having a, Towards Smart Surroundings:Enabling Techniques and Technologies for Localization, Proceedings ofthe International Workshop on Location and Context-Awareness (LoCA 2005)at Pervasive 2005, May 2005, and Hazas, M., Scott, J., Krumm, J.:Location-Aware Computing Comes of Age, IEEE Computer, 37(2):95-97,February 2004 005, Pa005, Pages 350-362.) These systems are designed toaddress asset and people tracking within a controlled environment like acorporate campus, a hospital facility or a shipping yard. The classicexample is having a system that can monitor the exact location of thecrash cart within the hospital so that when there is a cardiac arrestthe hospital staff doesn't waste time locating the device. The accuracyrequirements for these use cases are very demanding, typically callingfor 1-3 meter accuracy. These systems use a variety of techniques tofine tune their accuracy including conducting detailed site surveys ofevery square foot of the campus to measure radio signal propagation.They also require a constant network connection so that the access pointand the client radio can exchange synchronization information similar tohow A-GPS works. While these systems are becoming more reliable forindoor use cases, they are ineffective in any wide-area deployment. Itis impossible to conduct the kind of detailed site survey requiredacross an entire city and there is no way to rely on a constantcommunication channel with 802.11 access points across an entiremetropolitan area to the extent required by these systems. Mostimportantly, outdoor radio propagation is fundamentally different thanindoor radio propagation, rendering these indoor positioning algorithmsalmost useless in a wide-area scenario.

Speed estimation of WLAN users has drawn little attention. There is onepaper related to this topic, which covers the indoor environment. Usingpower variation of signal strength of WLANs to detect stationary usersinside a building was proposed by Krumm and Harvitz. (See John Krumm andEric Harvitz, “LOCADIO: Inferring Motion and Location from WLAN SignalStrengths” Proc. Of Mobiquitous, pp 4-14, Aug. 22-26, 2004). Theproposed algorithm is based on measuring the variance of the signalstrength of the strongest access point in an indoor environment. In thisarticle, the user's movement is captured in two states, which are“still” and “moving” states. The proposed algorithm to detect stillstate is based on detailed survey of the building and finding transitionprobability between “still” and “moving” states as a function of thebuilding's floor plan. This article uses standard deviation of powersamples to capture the power variation. In addition, a detailed sitesurvey was required.

Estimation of speed of travel by using radio wave propagationcharacteristics is not a new idea, and different methods have beensuggested to calculate user speed by using radio waves. The common wayof estimating speed of a receiver relative to the transmitter is basedon measuring the Doppler frequency. Estimating speed based on Dopplerfrequency needs the exact knowledge of the transmit frequency and angleof arrival of radio waves.

Due to shadowing and multi-path effects, conventional speed estimationmethods cannot estimate the speed of WLAN users accurately. For example,Doppler frequency cannot be measured directly since the WLAN accesspoint local oscillator is not precise enough, and the transmit frequencyis not known accurately. Also, the multi-path effect causes differentpath length for the received signals.

There are millions of commercial and private WLANs deployed so far andthis number is growing everyday. Thus, it is desirable to use WLANaccess points to estimate speed and direction of travel. The speed of auser can be estimated by using transitional features of radio wavesreceived from one or more WLAN access points. Moving out of coveragearea of some access points and entering coverage area of other accesspoints maintains continuity of estimation over time.

Detecting zero speed is another challenging issue for WLAN users, sincethe environment surrounding a WLAN receiver in a metropolitan area ischanging all the time, and as a result, the received signalcharacteristics is changing constantly.

A WLAN positioning system provides a systematic method and a methodologyfor gathering reference location data to enable a commercial positioningsystem using public and private 802.11 access points. Preferably, thedata is gathered in a programmatic way to fully explore and cover thestreets of a target region. The programmatic approach identifies as manyWi-Fi access points as possible.

FIG. 1 depicts a Wi-Fi positioning system (WPS). The positioning systemincludes positioning software [103] that resides on a computing device[101]. Throughout a particular coverage area there are fixed wirelessaccess points [102] that broadcast information using control/commonchannel broadcast signals. The client device monitors the broadcastsignal or requests its transmission via a probe request. Each accesspoint contains a unique hardware identifier known as a MAC address. Theclient positioning software receives signal beacons from the 802.11access points in range and calculates the geographic location of thecomputing device using characteristics from the signal beacons. Thosecharacteristics include the unique identifier of the 802.11 accesspoint, known as the MAC address, and the strengths of the signalreaching the client device. The client software compares the observed802.11 access points with those in its reference database [104] ofaccess points, which may or may not reside on the device as well. Thereference database contains the calculated geographic locations andpower profile of all the access points the gathering system hascollected. The power profile may be generated from a collection ofreadings that represent the power of the signal from various locations.Using these known locations, the client software calculates the relativeposition of the user device [101] and determines its geographiccoordinates in the form of latitude and longitude readings. Thosereadings are then fed to location-based applications such as friendfinders, local search web sites, fleet management systems and E911services.

BRIEF SUMMARY OF THE INVENTION

The invention provides methods for estimating the speed and bearing in aWLAN based location service.

Under one aspect of the invention, a method used to estimate a speed oftravel of a Wi-Fi enabled device comprises the Wi-Fi enabled devicereceiving signals transmitted by Wi-Fi access points in range of theWi-Fi enabled device, and using the signals to estimate the speed oftravel of the Wi-Fi enabled device.

Under another aspect of the invention, a method used to estimate a speedof travel of a Wi-Fi enabled device comprises the Wi-Fi enabled devicemeasuring an individual observation period for each of the Wi-Fi accesspoints during which the Wi-Fi enabled device is receiving the signaltransmitted by the individual Wi-Fi access point, the measuringoccurring during a window of time. An average observation period iscalculated based on the individual observation periods, and a speed oftravel of the Wi-Fi enabled device is estimated using the averageobservation period.

Under another aspect of the invention, a method used to estimate a speedof travel of a Wi-Fi enabled device comprises the Wi-Fi enabled devicereceiving and measuring signal strengths of signals transmitted by aplurality of Wi-Fi access points in range of the Wi-Fi enabled device asreceived by the Wi-Fi enabled device, the measuring occurring during awindow of time. Variations of the signal strengths as received by theWi-Fi enabled device during the window of time are calculated. Thesignal strength variations are used to estimate a speed of travel of theWi-Fi enabled device.

Under another aspect of the invention, a method used to estimate a speedof travel of a Wi-Fi enabled device comprises the Wi-Fi enabled devicereceiving signals transmitted by Wi-Fi access points in range of theWi-Fi enabled device. A reference database is accessed to determine ifthe database contains characteristics of the Wi-Fi access points. If thedatabase contains characteristics of the Wi-Fi access point, thecharacteristics are used to estimate a speed of travel of the Wi-Fienabled device.

Under another aspect of the invention, a method for facilitating thedetermination of a speed of travel of the Wi-Fi enabled device within alocation-based services system having a reference database of Wi-Fiaccess points in a target area, each Wi-Fi access point in the targetarea positioned at a corresponding geographical location, comprises theWi-Fi enabled device receiving signals transmitted by Wi-Fi accesspoints in range of the Wi-Fi enabled device during a window of time. Thereference database is accessed to retrieve the correspondinggeographical locations of the identified Wi-Fi access points. Thegeographical locations of the identified Wi-Fi access points are used toestimate a plurality of positions of the Wi-Fi enabled device occurringduring the window of time, and a time value is associated with each ofthe estimated positions, each time value and position estimate formingone position/time pair of a plurality of pairs, the plurality having afirst position occurring at a first time and a second position occurringat a second time. A lower speed bound is calculated based on adifference between the first position and time and second position andtime. A plurality of speeds are calculated based on differences betweenconsecutive pairs of the plurality of position/time pairs. An upperspeed bound is the median speed from the plurality of speeds. A speed oftravel of the Wi-Fi enabled device is calculated based on the upperspeed bound and the lower speed bound.

Under another aspect of the invention, a method for facilitating thedetermination of a speed of travel of the Wi-Fi enabled device within alocation-based services system having a reference database of Wi-Fiaccess points in a target area, each Wi-Fi access point in the targetarea positioned at a corresponding geographical location, comprises theWi-Fi enabled device receiving signals transmitted by Wi-Fi accesspoints in range of the Wi-Fi enabled device during a window of time. Thereference database is accessed to retrieve the correspondinggeographical locations of the identified Wi-Fi access points. Thegeographical locations of the identified Wi-Fi access points are used toestimate a plurality of distances traveled by the Wi-Fi enabled device,and a time value is associated with each estimated position. The speedof travel of the Wi-Fi enabled device is calculated based on theplurality of distances and associated times.

Under another aspect of the invention, a method used for facilitatingthe determination of a direction of travel of the Wi-Fi enabled devicewithin a location-based services system having a reference database ofWi-Fi access points in a target area, each Wi-Fi access point in thetarget area positioned at a corresponding geographical locationcomprises the Wi-Fi enabled device receiving signals transmitted byWi-Fi access points in range of the Wi-Fi enabled device. The referencedatabase is accessed to retrieve the corresponding geographicallocations of the identified Wi-Fi access points. The geographicallocations of the identified Wi-Fi access points are used to estimate asequence of positions of the Wi-Fi enabled device occurring during thewindow of time, the sequence having a first position. A plurality ofintermediate directions of travel of the Wi-Fi enabled device arecalculated based on the first position and the later positions of thesequence, each direction calculation using a different later positionfor each individual calculation. A direction of travel of the Wi-Fienabled device is calculated based on the average of the plurality ofintermediate directions of travel.

Under another aspect of the invention, a method for use in alocation-based services system having a plurality of Wi-Fi access pointsin a target area, the Wi-Fi access points being positioned at geographiclocations comprises estimating a first speed of travel of a Wi-Fienabled device using a calculated average observation period duringwhich the Wi-Fi enabled device is receiving signals transmitted by theWi-Fi access points, estimating a second speed of travel of the Wi-Fienabled device using calculated variations of signal strengthstransmitted by the Wi-Fi access points as received by the Wi-Fi enableddevice, and estimating a third speed of travel of the Wi-Fi enableddevice using a plurality of estimated positions and associated timevalues of the Wi-Fi enabled device estimated using the geographiclocations of the Wi-Fi access points. A fourth speed of travel of theWi-Fi enabled device is calculated based on the first, second, and thirdestimated speeds of travel.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

In the drawings,

FIG. 1 depicts certain embodiments of a Wi-Fi positioning system;

FIG. 2 depicts the estimation of the speed of a user by fitting a lineto multiple position estimation points according to certain embodimentsof the invention;

FIG. 3 depicts speed estimation as a numerical derivative of travelingdistance according to certain embodiments of the invention;

FIG. 4 depicts an example of received signal strength variation overtime and an accompanying Fourier transform of the variation;

FIG. 5 depicts an example of a user exposed to a multitude of WLANcoverage areas;

FIG. 6 depicts an example of an access point with the average coverageradius;

FIG. 7 depicts an embodiment of a transversal filter to find optimumcoefficients to linearly combine speed estimations according to certainembodiments of the invention; and

FIG. 8 depicts a method of bearing estimation according to certainembodiments of the invention.

DETAILED DESCRIPTION

Embodiments of the invention facilitate the estimation of speed andbearing of a user equipped with a WLAN device by using WLAN radiosignals. Proliferation of WLAN access points in recent years created ablanket of WLAN radio waves everywhere. Therefore, almost in any place,there is a great possibility to detect WLAN radio waves, especially inurban areas. There are important features embedded in WLAN and WLANtechnology which makes it more attractive for speed and bearingestimation in metro areas, including that WLAN access points arestationary, WLAN access points can be found almost anywhere, the WLANaccess points are sharing the same spectrum, and the spectrum used byWLAN access points is free.

Embodiments of the invention provide a system and a methodology forcontinuously maintaining and updating speed and bearing estimation of auser using radio waves of public and private WLAN access points. Theuser scans and detects public and private WLAN access points and alsologs Received Signal Strength (RSS) corresponding to each of the WLANaccess points periodically. Embodiments of the invention provide amethod to estimate speed and bearing of the user equipped with a WLANdevice based on radio waves received from public and private WLAN accesspoints.

Embodiments of the present invention build on techniques, systems andmethods disclosed in earlier filed applications, including but notlimited to U.S. patent application Ser. No. 11/261,848, entitledLocation Beacon Database, U.S. patent application Ser. No. 11/261,898,entitled Server for Updating Location Beacon Database, U.S. patentapplication Ser. No. 11/261,987, entitled Method and System for Buildinga Location Beacon Database, and U.S. patent application Ser. No.11/261,988, entitled Location-Based Services that Choose LocationAlgorithms Based on Number of Detected Access Points Within Range ofUser Device, all filed on Oct. 28, 2005, the contents of which arehereby incorporated by reference in its entirety. Those applicationstaught specific ways to gather high quality location data for Wi-Fiaccess points so that such data may be used in location based servicesto determine the geographic position of a Wi-Fi-enabled device utilizingsuch services and techniques of using said location data to estimate theposition of a system user. The present techniques, however, are notlimited to systems and methods disclosed in the incorporated patentapplications. Thus, while reference to such systems and applications maybe helpful, it is not believed necessary to understand the presentembodiments or inventions.

Embodiments of the invention may be used in a Wi-Fi enabled device todetermine speed and/or direction of travel. For example, technique inaccordance with embodiments of the invention may be incorporated inlogic embedded in a positing software [103] of the Wi-Fi enabled deviceof FIG. 1.

Under at least one embodiment of the invention, the speed of a user isestimated based on a numerical derivative of the traveling distance. Themethod is based on finding the speed of user based on positionestimation samples in a WLAN based positioning system. The speed of theuser is estimated by fitting a line to traveling distance as a functionof time. Therefore, the slope of the line is the speed of the user. FIG.2 illustrates an example of this method. In FIG. 2, the user is movingalong a street [201], and multiple positions [202] are estimated (shownby stars). The distance between the multiple positions [202] may beplotted against times at which the positions are estimated, shown bygraph [204]. A line [205] is fit to the distance [206] and time [207]values corresponding to the multitude of position estimations [202]. Theslope of the line [205] is the speed of the user.

Under other embodiments of the invention, the speed of a user isestimated based on a numerical derivative of the traveling distance. Theinvented method is based on finding a lower bound and an upper bound ofthe user's speed, and then calculating the middle point between them asthe best estimate for the speed. These embodiments provide a simple wayto calculate the speed of a user.

Methods according to these embodiments use an m number of time-stampedposition estimations of the user and corresponding qualities of theposition estimations. The number m needs to be set high enough to smooththe results and eliminate estimation noises and sudden changes in speedestimation. On the other hand, the value of m has to be set low enoughto track speed changes in a timely manner. The optimum value of mdepends on the rate of change of speed of the user and it can also beselected adaptively. An example of a useful value of m is between fiveand fifteen seconds.

In order to reduce the initial delay of reporting the speed estimatedunder these embodiments, a rough estimation of speed can be calculatedafter couple of seconds, e.g., five seconds, and it can be fine tunedafter collecting more samples. The optimum number of m may be foundempirically.

Methods according to these embodiments operate as follows. Low qualityposition estimations are eliminated, leaving n number of positionestimations of acceptable quality. The median of speed for the nconsecutive position estimations is calculated using the distancetraveled over time. This is the upper bound of the speed. The averagespeed is calculated by using the first and the last position estimation.This is the lower bound of the speed. The final speed is calculated as aweighted average of the median and the average speeds.

The median of speed is calculated by first finding the speeds of nconsecutive position estimation as follows:

${V_{i} = {\frac{\Delta\; d_{i}}{\Delta\; t_{i}} = \frac{d_{1} - d_{i - 1}}{t_{i} - t_{i - 1}}}},{1 \leq i \leq n}$Next, the n calculated speeds are sorted from minimum to maximum and themiddle point is selected as follows:{V _(a) ,V _(b) , . . . ,V _(k) },V _(a) ≦V _(b) ≦ . . . ≦V _(k)

The average speed is calculated by considering the last position and thefirst position estimation of the n consecutive position estimation, asfollows:

$ \{ {( {d_{1},t_{1}} ),( {d_{2},t_{2}} ),\ldots\mspace{14mu},( {d_{n},t_{n}} )} \}\Rightarrow V_{avg}  = \frac{d_{n} - d_{1}}{t_{n} - t_{1}}$

The last step is finding the final speed by using weighted average ofthe median and the average speed. The weighting factor is denoted by aas follows:V=αV _(median)+(1−α)V _(avg)

The value of α is set to 0.5 to find the mean value. Appropriate valuesof α may be found empirically depending upon the use of the system. Oneexample of an ideal value of α is 0.5.

FIG. 3 depicts an example of the above-described embodiment of speedestimation based on a numerical derivative of the traveling distance.The speed estimation method includes a window size [301], in whichpositioning samples [302] are used for speed estimation. Multiple speedestimations [303] based on the consecutive position estimations [302],are determined and used to calculate the median speed. The speedestimation based on the first and the last position estimation [304] isdetermined and used as the lower speed bound. The median and lower speedbound may be combined to find the speed of travel of the user.

Under another aspect of the invention, the number of position estimationsamples is changed adaptively according to the rate of change of speed.The number of position estimation samples is adjusted based on averagerate of change of speed and not instantaneous variation.

Under another aspect of the invention, the speed of a user is estimatedbased on numerical derivative of traveling distance by using positionestimation samples weighted according to their quality of estimation.The techniques disclosed in the related U.S. patent applicationentitled, Calculation of Quality of WLAN Access Point CharacterizationFor Use in a WLAN Positioning System (incorporated above), may be usedto determine the quality of estimation. In a WLAN based positioningsystem, position of a user is estimated based on received signalstrength of radio waves from WLAN access points in range. Positionestimation may also tagged with a quality factor which is an indicatorof the expected error of position estimation. Embodiments of theinvention use position estimation results weighted according to theirquality of estimation to calculate the user's speed.

For example, when using the technique of fitting a line to positionestimation points to determine speed, the distance of the line to theestimated position points (e.g., [208] of FIG. 2) are weighted accordingto the quality of the position estimations. Therefore, the line is foundin such a way that the weighted distances from the position points tothe line are minimized. As another example, when using the technique offinding multiple position estimations and finding the upper and thelower bound of speed, the position estimations having a low quality areignored. The threshold to select the low quality threshold may be foundempirically.

Under at least one embodiment of the invention, speed of the user isestimated based on measuring the Doppler effect indirectly by measuringpower variation of the Received Signal Strength. The power variation ismeasured by looking at the power samples in the frequency domain bytaking Fourier Transform of power samples. The bandwidth of the FourierTransform of the power samples is then directly correlated with thespeed of a user. FIG. 4 shows an example of RSS [401] variation vs. time[402]. An example variation plot is shown by [403]. In other words,signal strength variation is used as an indicator of the speed of theuser, and it is mapped into the speed of the user.

The received signal strength may be impacted by the following channelimpairments: the distance between a transmitter and a receiver, shadowfading, and multi-path and small fading effect. The distance between thetransmitter and the receiver directly impacts the absolute value of theaverage Received Signal Strength. The relationship between the ReceivedSignal Strength and the distance between WLAN access point and the enduser is a function of the environment in which they operate. Shadowfading and multi-path fading are inherently random and cause theReceived Signal Strength to vary with time. In the case of stationaryuser, although shadow and multi-path fading cause power to vary, thevariation is limited since only movements of surroundings of thereceiver cause power to vary. If a mobile user is considered, thechanges and rate of change of surroundings of the receiver is muchhigher. As a result, the Received Signal Strength variation is higherthan for stationary users.

Methods practiced according to these embodiments operate as follows.Received Signal Strength values are collected over a given time window.The time window can be a fixed window or it can be adjusted adaptivelyaccording to the rate of change of speed of the user. The adaptivewindow adjustment based on rate of change of speed of user is moreaccurate, but window size and acceleration are not linearly dependent.Larger window size avoids big estimation errors due to instantaneouspower change, but reduces tracking capability of the estimation. Oneexample of a useful value of the window size is equal to twenty samples,which are one second apart.

A variation is calculated from the Received Signal Strength values.Signal strength variation may be found by determining the bandwidth of aFourier Transform of samples of Received Signal Strength. The standarddeviation of signal strength may also be used as a rough approximationof signal variation. If signal strength variation is below a giventhreshold, the user is assumed stationary. If it is above the threshold,it is mapped to a value for the speed for the user.

Mapping power variation to speed can be found empirically based on theuse cases and the environment in which users operate. The method to mapbandwidth of Fourier Transform to speed is as follows. For a given speedof a user, the bandwidth of the Fourier Transform is found. The ratio ofthe known speed to the bandwidth of the Fourier Transform is denoted byA, and may be found as follows:

$A = \frac{V_{known}}{{BW}_{FFT}}$

The ratio A is used as the conversion factor to map Fourier Transformbandwidth to speed of a user. In summary, bandwidth of Fourier Transformof Received Signal Strength samples of a user is determined, and ismultiplied by A to find speed of the user.

FIG. 4 shows one example of Received Signal Strength [401] variationversus time and also the Fourier Transform of the RSS variation,plotting RSS power [405] versus frequency [406], and a correspondingbandwidth [404] of the Fourier transform.

Under one embodiment of the invention, speed estimation is based onaverage observation (or detection) period of WLAN access points.Observation period is a period of time that a user is exposed to atransmitted signal by an access point in a given time window. Astationary user stays in the coverage area of the same set of accesspoints, but a mobile user detects different access points as the mobileuser moves from coverage area of one access point to another.

FIG. 5 shows an example of a user moving in a given direction, along auser track [501]. There are different access points covering differentparts of the moving path, e.g., AP2 and AP6. If a user track [501] isconsidered, the distances of access points from the user track are arandom variable, and coverage of access points can change from oneaccess point to another, e.g., coverage area of AP2 [502] and coveragearea of AP6 [503]. Calculation of average observation period is based onall the access points in range regardless of their existence in thereference database [104] (of FIG. 1).

If an access point exists in the reference database [104], theestimation of its coverage area, e.g., [502], is retrieved from thereference database [104], and the coverage area [502] is used to weightthe observation period of the access point. If an access point does notexist in the reference database [104], a nominal average coverage areaof all access points in the reference database may be used to weight theobservation period. In the alternative, a default coverage area valuemay be used.

In order to calculate the average observation period, a time window of Wis considered to collect Received Signal Strength samples and calculateaverage observation period. A total number of access points detectedduring time window W is m, in which m₁ exist in the reference database[104] and m₂ do not. If observation period of access point i is denotedby t_(i), and the coverage area is denoted by and the nominal averagecoverage area of all access points in the reference database [104] isdenoted by C, the average observation period is calculated as follows:

$\overset{\_}{t} = \frac{{\sum\limits_{i = 1}^{m_{1}}\frac{t_{i}}{C_{i}}} + \frac{\sum\limits_{i = 1}^{m_{2}}t_{i}}{C}}{m}$

The average observation period is translated to the speed of the user byfinding average distance that the user moves in a given access pointcoverage area. The average radius of the coverage area [502] of anaccess point in the reference database [104] is known. Techniquesdisclosed in the related U.S. patent application entitled, Estimation ofPosition Using WLAN Access Point Radio Propagation Characteristics in aWLAN Positioning System (incorporated above), may be used to determinethe average radii of access points.

Referring to FIG. 6, an access point [601] has a coverage area [600]with a radius of coverage [602], which is denoted by R. A user candetect the access point [601] up to the radius of coverage [602].Therefore, the average distance of a path of a user from the accesspoint [601] is (R/2) [603]. If the average distance traveled [604] bythe user in the coverage area [600] of the access point [601] is denotedby d, it can be calculated as follows:d=2×√{square root over (R ²−(R/2)²)}=2R√{square root over (0.75)}

Because the average time to travel the distance d in the coverage areais the average observation period, the speed of user while traveling inthe coverage area [600] of the access point [601] with a known coveragearea [600] can be calculated as follows:

$V = \frac{d}{\overset{\_}{t}}$

Similar methods can be used to determine the speed of the user by usingaccess points not in the reference database [104] by using the averagecoverage area of all access points in the reference database [104] or byusing a default value.

According to embodiments of the invention, the quality of speedestimation of a user may be calculated based on the number of accesspoints used to calculate the average observation period. In addition, ifthe average observation period of access points calculated by a givenuser is above a given threshold, the user is stationary. If it is belowthe threshold, user speed may be calculated. The threshold to detect astationary user depends on characteristics of the mobility of users andthe use case, and may be found empirically.

One example of a useful value of window size to calculate the averageobservation period is twenty one seconds. One example of a usefulthreshold to detect stationary users for urban navigation applicationsis equal to eight seconds.

Under another aspect of the invention, results of different methods ofestimating the speed of a user are consolidated into one number by usingan adaptive transversal filter. The output of the transversal filter isthe optimum linear combination of estimation of the speed of the user.Embodiments of the invention include methods of combining speedestimation results from different sources to find optimum coefficients,corresponding to the sources, to combine the sources linearly. Forexample, estimation of the speed of the user based on a derivative ofdistance relative to time, power variation, and average observationperiod may be consolidated to one number.

An adaptive transversal filter [700] is shown in FIG. 7. The inputs tothe transversal filter are different speed estimations V₁ [701], V₂[702], and V₃ [703]. The speed estimations V₁ [701], V₂ [702], and V₃[703] are weighted by corresponding coefficients W₁ [704A], W₂ [704B],and W₃ [704C]. The output of the filter V′ [706] is compared with theactual speed V [705] of the user, and the residual error, e [707], isused to adjust the filter coefficients W₁ [704A], W₂ [704B], and W₃[704C]. The value of e is calculated as follows:e=V−V′

The value of error, e, is then used to adjust filter coefficients [708].There are different standard methods to adjust filter coefficients, forexample Least Square, Least Mean Square or Recursive Least Mean Square.The optimum filter coefficients W₁ [704A], W₂ [704B], and W₃ [704C] needto be found once, and after that they can be used to combine differentspeed estimations of different methods. Practically, a test bed iscreated and it is moved the same way as the user based on the desireduse case.

One example method of getting the actual speed V [705] of the user fordetermining the filter coefficients W₁ [704A], W₂ [704B], and W₃ [704C]is using a GPS, because GPS speed estimation is accurate enough for mostof the applications. An example test bed is equipped with a GPS and alsoa WLAN receiver. The speed of the test bed is estimated periodically byusing WLAN access points using all the different methods. All thedifferent speed estimations V₁ [701], V₂ [702], and V₃ [703] from thedifferent methods are input to the transversal filter, along with thefilter coefficients W₁ [704A], W₂ [704B], and W₃ [704C]. The initialvalue of coefficients may be set to all equal values, e.g., equal to ⅓.The actual speed is taken from the GPS receiver. The test bed can bemoved until the filter coefficients W₁ [704A], W₂ [704B], and W₃ [704C]converge to the optimal value. The optimal value of the filtercoefficients W₁ [704A], W₂ [704B], and W₃ [704C] is logged and are usedto combine speed estimations as follows:

$V = {\sum\limits_{i - 1}^{3}{W_{i}V_{i}}}$

Under another aspect of the invention, zero speed is detected byestimating the speed of the user according to the power variation of theReceived Signal Strength method in combination with estimating the speedof the user according to the average observation period method.Combination of the results of these two methods increases theprobability of detecting stationary users, and as a result, thethresholds can be set more conservatively to reduce probability of falsedetection.

Under another embodiment of the invention, a user's WLAN device scansfor access points, and none of access points exist in the currentreference database [104]. In this case, the user cannot be located, butspeed of user can be estimated, because the power variation of theReceived Signal Strength method and the calculation of the averageobservation period method can still be used to estimate the speed of theuser. In this case, speed can be used to predict a future user position,although the current position cannot be estimated.

Under another aspect of the invention, the direction of movement,bearing, is calculated based on WLAN signals. Bearing is calculatedbased on m number of consecutive position estimation samples. The numberm needs to be set high enough to smooth the results and eliminateestimation noises and sudden changes in bearing estimation. On the otherhand, the value of m has to be set low enough to track bearing changesin a timely manner. Quality of position estimation may be used to weightbearing estimation samples.

An example method for estimating bearing is as follows. Consider thelast m position estimations of the user, and exclude low qualityposition estimations. The number of acceptable quality positionestimations is denoted by M. The direction of movement between the firstposition estimation and the next M−1 position estimation samples isfound; bearing calculation of the first position estimation and positionestimation i is denoted by B(1,i), 0<(M−1). The method next determinesthe weighted average of the bearing of M−1 results, weighted accordingto their quality of estimation. If quality of estimation of locationestimation i is denoted by Q_(i) the bearing is calculated as follows:

$B = \frac{\sum\limits_{i = 1}^{M - 1}{{B( {1,i} )}Q_{i}}}{M - 1}$

This technique of estimating bearing is shown graphically in FIG. 8. Thedirection of movement from the first point [801] to all the consecutivepoints [802]-[806] is calculated for M number of points (six in thisexample), and the average of (M−1) is calculated as the actual bearing[807].

The value of M may be found empirically based on the mobility model ofusers. The mobility model is used to find the average duration that theuser takes to change bearing, and also dictates required accuracy andmaximum tolerable delay. In a typical navigation application, a usefulvalue of M is 15, with samples being taken at one second intervals. Itwas also observed that the accuracy of bearing estimation for M lessthan 10 samples is very poor.

It will be appreciated that the scope of the present invention is notlimited to the above-described embodiments, but rather is defined by theappended claims, and these claims will encompass modifications of andimprovements to what has been described.

What is claimed is:
 1. A method of inferring that a Wi-Fi enabled deviceis substantially stationary, comprising: receiving information fromsignals transmitted by at least one Wi-Fi access point and received by aWi-Fi enabled device, the receiving occurring over time; measuring, overan interval of time, a total duration of time during which the Wi-Fienabled device detects signals transmitted by the at least one Wi-Fiaccess point; and inferring that the Wi-Fi enabled device issubstantially stationary based on the total duration of time duringwhich signals from the at least one Wi-Fi access point were detected sothat the inference that the Wi-Fi enabled device is substantiallystationary can be made without requiring position estimates of the Wi-Fienabled device.
 2. A system for inferring that a Wi-Fi enabled device issubstantially stationary, comprising: at least one non-transitorycomputer-readable media comprising instructions that when executed causea computer system to: receive information from signals transmitted by atleast one Wi-Fi access point and received by a Wi-Fi enabled device, thereceiving occurring over time; measure, over an interval of time, atotal duration of time during which the Wi-Fi enabled device detectssignals transmitted by the at least one Wi-Fi access point; and inferthat the Wi-Fi enabled device is substantially stationary based on thetotal duration of time during which signals from the at least one Wi-Fiaccess point were detected so that the inference that the Wi-Fi enableddevice is substantially stationary can be made without requiringposition estimates of the Wi-Fi enabled device.